(1) 
> above 
cen the 
ng pre- 
angular 
ing 3D 
50mm 
  
  
Kakiuchi, Tsutomu 
  
After the camera calibration for the right and left image, the 
video theodolite tracked the test model was slowly moving 
to left side. Stereo image A2 was taken at +500mm. The 
changing values of the test model on the actuator were then 
controlled through a personal computer. The rotation angles 
of the video theodolite were 20 12 47 clockwise, $00 14 
under the horizon, thus giving  V, 00014 and H, 
20 12 47 . Stereo image A3 was taken at -500mm and VV, 
,00014, H 275731. 
The unknown parameters, "and for each stereo images 
    
Figure 9. Right and Left image 
should be estimated as the sum of changing vertical and horizontal values resulting in ‘jand 0 respectively. Here, '$6 
and y are the calibration results of the both orientation image. Consequently, "and are calculated as follows using 
the changing values in vertical ( V), horizontal direction( ,H) and "p, 0. 
à = à, + AV, ô = à, + ÀH, @ 
However, each stereo image was taken at a different exposure station, due to the discord between the center of the 
theodolite and the lens of the CCD 2 camera. Each camera position has to be corrected to respond to the rotation of the 
video theodolite by the following equation, 
X,= D’ cosV” sin H,) 
yf = D‘ os à sinV" sinù cosV” cos (à H,} 
Z =D fina sinV” + cosù cos V” cos(ö H,} 
zi = (p Z' kosV, 
Where, Xp“, Yo”, Zo , corrected camera position, y tnu? In / (p Z 2 D = | X 2 +Yi + (p Zy 
4.0 Pre-Experiment Results 
G) 
Table 3 shows the R.M.S.E. for check points in each stereo image. 
  
  
  
  
  
  
  
  
  
Stereo Image A3 A1 A2 
Changing Values -500" onm +500™™ 
Height Difference om" agnum 50™™ grm 207" son" gue 207" 50™™ 
(mm) 39.462 | +0.421 | +0.462 | +0.381 | +0.401 +0.413 | +0.461 | +0.481 | +0.523 
(mm) +4.402 | +4.552 | +4.824 | £3.962 | +4.381 +4.121 | +4.765 | +4.827 | +4.923 
  
  
  
  
  
  
  
  
  
Theoretical accuracy; y =+0.416"", z=+4.167 mm 
Table 2. R.M.S.E. for check points 
Almost the same low accuracy for the Z-coordinate can be found, probably due to the lack of horizontal line, i.e. odd 
and even field was utilized in this paper, and the short of baseline of the stereo adapter, but it is concluded that the 
stereo vision system is a useful tool in a small inner space. 
5 3DSPATIAL DATA ACQUISITION 
The remarkable points of the stereo vision system are its ability to 
obtain the synchronized stereo image sequences and camera 
rotation parameters in reaHime, and 3D modeling for indoor space 
became possible. Furthermore, textures for object are 
simultaneously taken. 
In order to evaluate the utilization of the stereo vision system, 
indoor experiment for reconstructing and 3D modeling was 
demonstrated. 
Figure 10 shows the elevator hall in the Tokyo Denki University 
(TDU) used in this investigation. 
Reconstructing and 3D modeling procedure are as follows. 
  
Figure 10. Elevator hall in the TDU 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 417